public void processAvatarMessage(AvatarMessage av)
{
Sensors sensors = GameObject.Find("Main").GetComponent <Sensors>();
foreach (string s in av.calibrations)
{
string[] chunks = s.Split(';');
string id = chunks[0];
float px = float.Parse(chunks[1]);
float py = float.Parse(chunks[2]);
float pz = float.Parse(chunks[3]);
float rx = float.Parse(chunks[4]);
float ry = float.Parse(chunks[5]);
float rz = float.Parse(chunks[6]);
float rw = float.Parse(chunks[7]);
GameObject cloudobj = new GameObject(id);
cloudobj.transform.localPosition = new Vector3(px, py, pz);
cloudobj.transform.localRotation = new Quaternion(rx, ry, rz, rw);
cloudobj.transform.localScale = new Vector3(-1, 1, 1);
cloudobj.AddComponent <PointCloudSimple>();
PointCloudSimple cloud = cloudobj.GetComponent <PointCloudSimple>();
_clouds.Add(id, cloud);
_cloudGameObjects.Add(id, cloudobj);
sensors.addSensor(id, new Vector3(px, py, pz), new Quaternion(rx, ry, rz, rw));
}
Camera.main.GetComponent <MouseOrbitImproved>().target = _cloudGameObjects.First().Value.transform;
}
public void processAvatarMessage(AvatarMessage av)
{
foreach (string s in av.calibrations)
{
string[] chunks = s.Split(';');
string id = chunks[0];
float px = float.Parse(chunks[1]);
float py = float.Parse(chunks[2]);
float pz = float.Parse(chunks[3]);
float rx = float.Parse(chunks[4]);
float ry = float.Parse(chunks[5]);
float rz = float.Parse(chunks[6]);
float rw = float.Parse(chunks[7]);
Vector3 pi = new Vector3(px, py, pz);
Quaternion ri = new Quaternion(rx, ry, rz, rw);
GameObject cloudobj = new GameObject(id);
cloudobj.transform.localPosition = Vector3.zero;
cloudobj.transform.localRotation = Quaternion.identity;
cloudobj.transform.localScale = new Vector3(-1, 1, 1);
cloudobj.AddComponent <PointCloudSimple>();
PointCloudSimple cloud = cloudobj.GetComponent <PointCloudSimple>();
_clouds.Add(id, cloud);
_cloudGameObjects.Add(id, cloudobj);
//
GameObject origin = GameObject.Find("RemoteOrigin");
cloudobj.transform.parent = origin.transform;
cloudobj.transform.localPosition = pi;
cloudobj.transform.localRotation = ri;
}
}
public Sensor(string sensorID, GameObject sensorGameObject)
{
bodies = new Dictionary<string, SensorBody> ();
_active = true;
SensorID = sensorID;
lastBodiesMessage = null;
_sensorGameObject = sensorGameObject;
SensorGameObject.name = sensorID;
center1 = new Vector3 ();
center2 = new Vector3 ();
up1 = new Vector3 ();
up2 = new Vector3 ();
_floorValues = new List<Vector3> ();
_bestFitPlanePoints = new List<Vector3> ();
_material = _chooseMaterial ();
CommonUtils.changeGameObjectMaterial (_sensorGameObject, _material);
GameObject cloudobj = new GameObject ("PointCloud");
cloudobj.transform.parent = sensorGameObject.transform;
cloudobj.transform.localPosition = Vector3.zero;
cloudobj.transform.localRotation = Quaternion.identity;
cloudobj.transform.localScale = new Vector3 (-1, 1, 1);
cloudobj.AddComponent<PointCloudSimple> ();
lastCloud = cloudobj.GetComponent<PointCloudSimple> ();
}
public override void OnInspectorGUI()
{
DrawDefaultInspector();
if (GUILayout.Button("Save Position"))
{
PointCloudSimple c = (PointCloudSimple)target;
string lines = "posx=" + c.transform.position.x + "\r\nposy=" + c.transform.position.y + "\r\nposz= " + c.transform.position.z + "\r\nrotx="
+ c.transform.rotation.eulerAngles.x + "\r\nroty= " + c.transform.rotation.eulerAngles.y + "\r\nrotz=" + c.transform.rotation.eulerAngles.z;
// Write the string to a file.
System.IO.StreamWriter file = new System.IO.StreamWriter(target.name + ".ini");
file.WriteLine(lines);
file.Close();
}
}
